ros2_controllers

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Add Mecanum Drive Controller

29

Depends on https://github.com/ros-controls/control_msgs/pull/79

destogl

> Yes, you're right, there are a lot of things open to test -- but right now I just wanted to provide a quick fix for the Ackermann odometry, only...

christophfroehlich

The humble source build on humble branch fails for some time now: https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-source-build.yml?query=branch%3Ahumble But the scheduled one (tagged with branch=master) succeeds? > ERROR:colcon.colcon_core.entry_point:Exception loading extension 'colcon_core.environment_variable.powershell_command': cannot import name 'OVERRIDE_OPT'...

christophfroehlich

## Background rqt_jtc should be fully functional since #890 again, but it could see some refurbishment. I copied the todos from [rqt_jtc](https://github.com/ros-controls/ros2_controllers/blob/master/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py) to this issue to make it more visible....

christophfroehlich

ackermann_steering_controller with gazebo classic

11

Hi ! I was wondering if there is a command interfaces built in gazebo for ackermann_steering_controller, or do I need to code it myself ? Because right now with the...

space192

Sending an empty trajectory message from the topic interface (not the action interface) will override the current action goal and not abort the action. I think it will be overridden,...

christophfroehlich

Controller handling different input types

3

I have a use case where I want to have a four wheel steering controller. I was planning to write a new one and adapt it off of the tricycle...

dylan-gonzalez

[JTC] When replacing trajectories in open-loop mode use time of the last command when setting point of trajectory before msg.

4

This PR tackles the issues that happen in open-loop mode where on replacing trajectories the last command is repeated. The figures below show the results of the output trajectories before...

destogl

Odd QOS for Diff Drive TF Publication

4

**Describe the bug** Is there a particular reason why [the TF is published directly using a publisher](https://github.com/ros-controls/ros2_controllers/blob/83e415c0f00512398df3c3a508f738fc76a7ecda/diff_drive_controller/src/diff_drive_controller.cpp#L443-L444) rather than TF Broadcaster? Publishing it with a custom publisher / custom QOS...

DLu

joint_command_broadcaster?

4

**Is your feature request related to a problem? Please describe.** For debugging purposes I often publish or log the commands of my controllers. **Describe the solution you'd like** So I...

tonynajjar